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1、AbstractAbstractWiththegradualdevelopmentofspaceexploration,thespaceroboticsystemplaysanincreasinglyimportantroleinspacecrafton-orbitalassembly,repairingandmaintenance.Comparingwiththesingle-armspacerobot,dual-armspacerobothashigherflexibilityandreliability,
2、andwillbethemainforceoffutureon-orbitalservice.However,thedynamicsmodeling,pathplanningandcontrol,etc.,dual-armspacerobotismuchmorecomplexthansingle-armspacerobot,especiallyinclose-chainroboticsystem.Inthispaper,takingconsiderationofthespacetargeton-orbitfor
3、capturingandoperation,wedoresearchonmodelingofclosed-chaindynamics,trajectoryplanningofdual-armcoordinationandcompliancecontrolstrategyfordual-armspaceroboticsystem,etc.Whenthetargetgraspedbytwo-arm,aclosed-chaindynamicsystemisformed,thedynamiccharacteristic
4、softhecompoundedsystemareextremelycomplex.Toprovideabasisfortrajectoryplanning,controlandsimulation,theclosed-chaindynamicmodelofdual-armspacerobotisestablished,andnumericalsolutionmethodisproposedbasedonrestrictedtypeconstraints.Thispaperestablishedtheopen-
5、chaindynamicequationsbytheNewton-Eulermethod,andusedcutoffthehingetoformtheconstraintkinematicequations,mergedthemtoformtheclosed-chaindynamicequations,thismethodissuitablefordynamicmodelingofdual-armcoordinationoperation.Theestablishedmodellaidafoundationfo
6、rthedynamiccharacteristicsanalysisandtrajectoryplanningandcontrol.Duetothedynamiccouplingbetweenthemanipulatorandthebase,themotionofmanipulatorwillgeneratedisturbanceofthebasethatwillchangethebasecentroidpositionandattitude,thischangeswillfurtherchangethepos
7、eoftheend-effector.Theexistenceofthisfeatureaffectstheefficiencyofspacemanipulatoron-orbitmission.Thedynamiccouplingbetweenthemanipulatorandbasecanbedecomposedintotwoparts:thecentroidpositionandattitude,thecombinationoftheposition-levelandvelocity-levelcoupl
8、inganalysismethodhavebeenputforward.Thelinearvelocityofbasecentroidmeettheconservationoflinearmomentumequationwhichbelongstotheholonomicconstraints,throughtheestablishmentofbasecentroidvirtualma
